feat:停止喷涂

src/main/java/com/qyft/ms/app/handler/MatrixSprayState.java

@@ -4,6 +4,11 @@ package com.qyft.ms.app.handler;
 import lombok.Data;
 import org.springframework.stereotype.Component;
 
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.Future;
+
 @Component
 @Data
 public class MatrixSprayState {
@@ -12,4 +17,52 @@ public class MatrixSprayState {
      */
     private Double targetX = null;
     private Double targetY = null;
+
+    // 用于提交任务的线程池
+    private final ExecutorService executorService = Executors.newSingleThreadExecutor();
+
+    // 保存当前任务的 Future 对象
+    private volatile Future<?> taskFuture;
+
+    // 停止任务的标志，volatile 保证多线程可见性
+    private volatile boolean stopRequested = false;
+
+    // 重置状态，启动任务前调用
+    public void reset() {
+        stopRequested = false;
+    }
+
+    // 请求停止任务
+    public void requestStop() {
+        this.stopRequested = true;
+    }
+
+    /**
+     * 启动一个异步任务，并保存其 Future 对象
+     * @param task 需要异步执行的任务
+     */
+    public void startTask(Runnable task) {
+        reset();
+        taskFuture = executorService.submit(task);
+    }
+
+    /**
+     * 取消当前任务，设置停止标志并尝试调用 Future.cancel(true)
+     * @return 取消结果信息
+     */
+    public String cancelTask() {
+        requestStop();
+        if (taskFuture != null && !taskFuture.isDone()) {
+            boolean cancelled = taskFuture.cancel(true);
+            return cancelled ? "任务停止请求已发送" : "任务取消失败";
+        }
+        return "当前没有正在运行的任务";
+    }
+
+    /**
+     * 关闭线程池（如在程序退出时调用）
+     */
+    public void shutdown() {
+        executorService.shutdown();
+    }
 }

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStart.java

@@ -9,6 +9,7 @@ import com.qyft.ms.app.common.command.FrontCommandAck;
 import com.qyft.ms.app.common.constant.CommandStatus;
 import com.qyft.ms.app.common.generator.PathGenerator;
 import com.qyft.ms.app.handler.CommandHandler;
+import com.qyft.ms.app.handler.MatrixSprayState;
 import com.qyft.ms.app.model.bo.CMDToDevice;
 import com.qyft.ms.app.model.form.CMDFormV2;
 import com.qyft.ms.device.client.TcpClient;
@@ -16,7 +17,6 @@ import com.qyft.ms.device.handler.DeviceMessageHandler;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.http.MediaType;
-import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Component;
 import org.springframework.web.servlet.mvc.method.annotation.ResponseBodyEmitter;
 
@@ -34,7 +34,7 @@ import java.util.concurrent.TimeoutException;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@Async("asyncExecutor")
+//@Async("asyncExecutor")
 @CommandMapping("matrix_spray_start")//业务指令注解
 public class MatrixSprayStart implements CommandHandler {
 
@@ -42,6 +42,8 @@ public class MatrixSprayStart implements CommandHandler {
 
     private final DeviceMessageHandler deviceMessageHandler;
 
+    private final MatrixSprayState matrixSprayState;
+
     /**
      * {
      * cmdName:'matrix_spray_start'
@@ -62,61 +64,65 @@ public class MatrixSprayStart implements CommandHandler {
      */
     @Override
     public void handle(CMDFormV2 cmdForm, ResponseBodyEmitter emitter) throws Exception {
-        String frontCmdId = cmdForm.getCmdId();
-        String frontCmdName = cmdForm.getCmdName();
-        Map<String, Object> param = cmdForm.getParam();
-        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
-        // 1. 参数校验
-        String matrixPathType = Optional.ofNullable(param.get("matrixPathType"))
-                .map(Object::toString)
-                .orElse(null);
-
-        Double motorZHeight = Optional.ofNullable(param.get("motorZHeight"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Double gasPressure = Optional.ofNullable(param.get("gasPressure"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Double volume = Optional.ofNullable(param.get("volume"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Boolean highVoltage = Optional.ofNullable(param.get("highVoltage"))
-                .map(Object::toString)
-                .map(Boolean::parseBoolean)
-                .orElse(null);
-
-        Double highVoltageValue = Optional.ofNullable(param.get("highVoltageValue"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Double spacing = Optional.ofNullable(param.get("spacing"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Double movingSpeed = Optional.ofNullable(param.get("movingSpeed"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        Double times = Optional.ofNullable(param.get("times"))
-                .map(Object::toString)
-                .map(Double::parseDouble)
-                .orElse(null);
-
-        @SuppressWarnings("unchecked")
-        List<Map<String, Object>> positionList = (List<Map<String, Object>>) param.get("position");
-
-
-        if (validate(emitter, matrixPathType, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList))
-            return;
+        log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask());
+        matrixSprayState.startTask(() -> {
+            try {
+                String frontCmdId = cmdForm.getCmdId();
+                String frontCmdName = cmdForm.getCmdName();
+                Map<String, Object> param = cmdForm.getParam();
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+
+                // 1. 参数校验
+                String matrixPathType = Optional.ofNullable(param.get("matrixPathType"))
+                        .map(Object::toString)
+                        .orElse(null);
+
+                Double motorZHeight = Optional.ofNullable(param.get("motorZHeight"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Double gasPressure = Optional.ofNullable(param.get("gasPressure"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Double volume = Optional.ofNullable(param.get("volume"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Boolean highVoltage = Optional.ofNullable(param.get("highVoltage"))
+                        .map(Object::toString)
+                        .map(Boolean::parseBoolean)
+                        .orElse(null);
+
+                Double highVoltageValue = Optional.ofNullable(param.get("highVoltageValue"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Double spacing = Optional.ofNullable(param.get("spacing"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Double movingSpeed = Optional.ofNullable(param.get("movingSpeed"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                Double times = Optional.ofNullable(param.get("times"))
+                        .map(Object::toString)
+                        .map(Double::parseDouble)
+                        .orElse(null);
+
+                @SuppressWarnings("unchecked")
+                List<Map<String, Object>> positionList = (List<Map<String, Object>>) param.get("position");
+
+
+                if (validate(emitter, matrixPathType, frontCmdId, frontCmdName, motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, spacing, movingSpeed, times, positionList))
+                    return;
 
 //        DeviceInstance deviceInstance = DeviceInstance.getInstance();
 //        MatrixSprayStatusEnum matrixSprayStatus = DeviceInstance.getInstance().getMatrixSprayStatusEnum();
@@ -126,221 +132,232 @@ public class MatrixSprayStart implements CommandHandler {
 //            return;
 //        }
 //        deviceInstance.setMatrixSprayStatusEnum(MatrixSprayStatusEnum.YES);//如果没有在喷涂，设定当前状态为正在喷涂
-        //三轴回到原点 先 z
-        CountDownLatch latch = new CountDownLatch(1);
-        deviceMessageHandler.setLatch(latch);
-        // z轴回原点
-        if (originZ(emitter, frontCmdId, frontCmdName)) return;
-        boolean finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-        if (!finished) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
-        }
-        latch = new CountDownLatch(2);
-        deviceMessageHandler.setLatch(latch);
-        // x轴回原点
-        if (originX(emitter, frontCmdId, frontCmdName)) return;
-        // y轴回原点
-        if (originY(emitter, frontCmdId, frontCmdName)) return;
-        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-        if (!finished) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
-        }
-        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴与y轴已回到原点"), MediaType.APPLICATION_JSON);
-
-        //设定轴移动速度
-        if (motorSpeedSet(emitter, movingSpeed, frontCmdId, frontCmdName)) return;
-
-        //2. 插入日志
-        //TODO写日志
-        //4.开启三通阀到喷嘴管路
-        if (threeWayValveOpenSyringePipeLine(emitter, frontCmdId, frontCmdName)) return;
-        //7.移动到指定高度(位置) (z - height)
-        Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取
-        latch = new CountDownLatch(1);
-        deviceMessageHandler.setLatch(latch);
-        if (moveZ(emitter, height, frontCmdId, frontCmdName)) return;
-        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-        if (!finished) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
-        }
-        //8.是否加电 电压
-        if (highVoltage) {//加电
-            if (highVoltageOpen(emitter, highVoltageValue, frontCmdId, frontCmdName)) return;
-        }
-        //9 循环position进 position:[{x1,y1,x2,y2,index}]
-        Double[][] slideArr = {
-                {18.08, 0.0},
-                {45.08, 0.0},
-                {72.08, 0.0},
-                {99.08, 0.0}
-        };
-        for (Map<String, Object> postion : positionList) {
-            //范围左上角 x1，y1
-            Double[] upperLeft = {((Number) postion.get("x1")).doubleValue(), ((Number) postion.get("y1")).doubleValue()};
-            //范围右下角 x2，y2
-            Double[] lowerRight = {((Number) postion.get("x2")).doubleValue(), ((Number) postion.get("y2")).doubleValue()};
-            //index 第几个玻片
-            int index = (int) postion.get("index");
-            //1.获取玻片的位置
-            Double[] slide = slideArr[index];
-            //2.玻片范围的实际位置
-            Double slideCompleteUCSX = slide[0] + upperLeft[0];
-            Double slideCompleteUCSY = slide[1] + upperLeft[1];
-            //3.算出路径坐标list
-            //定义边界
-            // 托盘点位 x y z
-            double left = slideCompleteUCSX + upperLeft[0];
-            double right = slideCompleteUCSX + lowerRight[0];
-            double top = slideCompleteUCSY + upperLeft[1];
-            double bottom = slideCompleteUCSY + lowerRight[1];
-            //移动xy到slide（玻片）的位置
-            latch = new CountDownLatch(2);
-            deviceMessageHandler.setLatch(latch);
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "xy移动到玻片位置",slide), MediaType.APPLICATION_JSON);
-            if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
-            if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
-            finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-            if (!finished) {
-                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-                emitter.complete();
-                return;
-            }
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开始按照路径喷涂",slide), MediaType.APPLICATION_JSON);
-            if ("horizontal".equals(matrixPathType)) { //生成路径（从“左上角”往下的水平之字形）   String matrixPathType = (String) param.get("matrix_path_type");//喷涂路径类型 horizontal | vertical | grid
-                for (int i = 0; i < times; i++) {
-                    double topReal = top;
-                    double bottomReal = bottom;
-                    if (i != 0 && i % 2 == 0) {//双数喷涂
-                        double halfSpacing = spacing / 2;
-                        topReal = top - halfSpacing;
-                        bottomReal = bottom + halfSpacing;
-                    }
-                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                            left, right, topReal, bottomReal,
-                            spacing,
-                            PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
-                    );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
-                    if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                        log.info("123");
-                        latch = new CountDownLatch(2);
-                        deviceMessageHandler.setLatch(latch);
-                        if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
-                        if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
-                        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-                        if (!finished) {
-                            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-                            emitter.complete();
-                            return;
-                        }
-                    }
+                //三轴回到原点 先 z
+                CountDownLatch latch = new CountDownLatch(1);
+                deviceMessageHandler.setLatch(latch);
+                // z轴回原点
+                if (originZ(emitter, frontCmdId, frontCmdName)) return;
+                boolean finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                if (!finished) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
                 }
-            } else if ("vertical".equals(matrixPathType)) {
-                for (int i = 0; i < times; i++) {
-                    double leftReal = left;
-                    double rightReal = right;
-                    if (i != 0 && i % 2 == 0) {//双数喷涂
-                        double halfSpacing = spacing / 2;
-                        leftReal = top - halfSpacing;
-                        rightReal = bottom + halfSpacing;
-                    }
-                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                            leftReal, rightReal, top, bottom,
-                            spacing,
-                            PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
-                    );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
-                    if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                        log.info("123");
-                        latch = new CountDownLatch(2);
-                        deviceMessageHandler.setLatch(latch);
-                        if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
-                        if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
-                        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-                        if (!finished) {
-                            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-                            emitter.complete();
-                            return;
-                        }
-                    }
+                latch = new CountDownLatch(2);
+                deviceMessageHandler.setLatch(latch);
+                // x轴回原点
+                if (originX(emitter, frontCmdId, frontCmdName)) return;
+                // y轴回原点
+                if (originY(emitter, frontCmdId, frontCmdName)) return;
+                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                if (!finished) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RESULT, "x轴与y轴已回到原点"), MediaType.APPLICATION_JSON);
+
+                //设定轴移动速度
+                if (motorSpeedSet(emitter, movingSpeed, frontCmdId, frontCmdName)) return;
+
+                //2. 插入日志
+                //TODO写日志
+                //4.开启三通阀到喷嘴管路
+                if (threeWayValveOpenSyringePipeLine(emitter, frontCmdId, frontCmdName)) return;
+                //7.移动到指定高度(位置) (z - height)
+                Double height = 101.2 - motorZHeight;//TODO 101.2是玻片高度，这个应该从数据库中获取
+                latch = new CountDownLatch(1);
+                deviceMessageHandler.setLatch(latch);
+                if (moveZ(emitter, height, frontCmdId, frontCmdName)) return;
+                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                if (!finished) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
                 }
-            } else if ("grid".equals(matrixPathType)) {//横竖喷2次
-                for (int i = 0; i < times; i++) {
-                    double leftReal = left;
-                    double rightReal = right;
-                    double topReal = top;
-                    double bottomReal = bottom;
-                    if (i != 0 && i % 2 == 0) {//双数喷涂
-                        double halfSpacing = spacing / 2;
-                        leftReal = top - halfSpacing;
-                        rightReal = bottom + halfSpacing;
-                        topReal = top - halfSpacing;
-                        bottomReal = bottom + halfSpacing;
+                //8.是否加电 电压
+                if (highVoltage) {//加电
+                    if (highVoltageOpen(emitter, highVoltageValue, frontCmdId, frontCmdName)) return;
+                }
+                //9 循环position进 position:[{x1,y1,x2,y2,index}]
+                Double[][] slideArr = {
+                        {18.08, 0.0},
+                        {45.08, 0.0},
+                        {72.08, 0.0},
+                        {99.08, 0.0}
+                };
+                for (Map<String, Object> postion : positionList) {
+                    //范围左上角 x1，y1
+                    Double[] upperLeft = {((Number) postion.get("x1")).doubleValue(), ((Number) postion.get("y1")).doubleValue()};
+                    //范围右下角 x2，y2
+                    Double[] lowerRight = {((Number) postion.get("x2")).doubleValue(), ((Number) postion.get("y2")).doubleValue()};
+                    //index 第几个玻片
+                    int index = (int) postion.get("index");
+                    //1.获取玻片的位置
+                    Double[] slide = slideArr[index];
+                    //2.玻片范围的实际位置
+                    Double slideCompleteUCSX = slide[0] + upperLeft[0];
+                    Double slideCompleteUCSY = slide[1] + upperLeft[1];
+                    //3.算出路径坐标list
+                    //定义边界
+                    // 托盘点位 x y z
+                    double left = slideCompleteUCSX + upperLeft[0];
+                    double right = slideCompleteUCSX + lowerRight[0];
+                    double top = slideCompleteUCSY + upperLeft[1];
+                    double bottom = slideCompleteUCSY + lowerRight[1];
+                    //移动xy到slide（玻片）的位置
+                    latch = new CountDownLatch(2);
+                    deviceMessageHandler.setLatch(latch);
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "xy移动到玻片位置", slide), MediaType.APPLICATION_JSON);
+                    if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
+                    if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
+                    finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                    if (!finished) {
+                        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                        emitter.complete();
+                        return;
                     }
-                    List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
-                            leftReal, rightReal, topReal, bottomReal,
-                            spacing,
-                            PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
-                    );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
-                    pathList = PathGenerator.generatePathPoints(
-                            leftReal, rightReal, topReal, bottomReal,
-                            spacing,
-                            PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
-                    );
-                    if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed)) return;//路径喷涂
-                    if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
-                        log.info("123");
-                        latch = new CountDownLatch(2);
-                        deviceMessageHandler.setLatch(latch);
-                        if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
-                        if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
-                        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-                        if (!finished) {
-                            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-                            emitter.complete();
-                            return;
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "开始按照路径喷涂", slide), MediaType.APPLICATION_JSON);
+                    if ("horizontal".equals(matrixPathType)) { //生成路径（从“左上角”往下的水平之字形）   String matrixPathType = (String) param.get("matrix_path_type");//喷涂路径类型 horizontal | vertical | grid
+                        for (int i = 0; i < times; i++) {
+                            double topReal = top;
+                            double bottomReal = bottom;
+                            if (i != 0 && i % 2 == 0) {//双数喷涂
+                                double halfSpacing = spacing / 2;
+                                topReal = top - halfSpacing;
+                                bottomReal = bottom + halfSpacing;
+                            }
+                            List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                                    left, right, topReal, bottomReal,
+                                    spacing,
+                                    PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+                            );
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
+                            if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
+                                log.info("123");
+                                latch = new CountDownLatch(2);
+                                deviceMessageHandler.setLatch(latch);
+                                if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
+                                if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
+                                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                                if (!finished) {
+                                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                                    emitter.complete();
+                                    return;
+                                }
+                            }
+                        }
+                    } else if ("vertical".equals(matrixPathType)) {
+                        for (int i = 0; i < times; i++) {
+                            double leftReal = left;
+                            double rightReal = right;
+                            if (i != 0 && i % 2 == 0) {//双数喷涂
+                                double halfSpacing = spacing / 2;
+                                leftReal = top - halfSpacing;
+                                rightReal = bottom + halfSpacing;
+                            }
+                            List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                                    leftReal, rightReal, top, bottom,
+                                    spacing,
+                                    PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+                            );
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
+                            if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
+                                log.info("123");
+                                latch = new CountDownLatch(2);
+                                deviceMessageHandler.setLatch(latch);
+                                if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
+                                if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
+                                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                                if (!finished) {
+                                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                                    emitter.complete();
+                                    return;
+                                }
+                            }
+                        }
+                    } else if ("grid".equals(matrixPathType)) {//横竖喷2次
+                        for (int i = 0; i < times; i++) {
+                            double leftReal = left;
+                            double rightReal = right;
+                            double topReal = top;
+                            double bottomReal = bottom;
+                            if (i != 0 && i % 2 == 0) {//双数喷涂
+                                double halfSpacing = spacing / 2;
+                                leftReal = top - halfSpacing;
+                                rightReal = bottom + halfSpacing;
+                                topReal = top - halfSpacing;
+                                bottomReal = bottom + halfSpacing;
+                            }
+                            List<PathGenerator.Points> pathList = PathGenerator.generatePathPoints(
+                                    leftReal, rightReal, topReal, bottomReal,
+                                    spacing,
+                                    PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+                            );
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
+                            pathList = PathGenerator.generatePathPoints(
+                                    leftReal, rightReal, topReal, bottomReal,
+                                    spacing,
+                                    PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+                            );
+                            if (pathSpray(emitter, frontCmdId, frontCmdName, volume, pathList, movingSpeed))
+                                return;//路径喷涂
+                            if (i + 1 != times) { //如果不是最后一次，执行完毕后回到玻片原点
+                                log.info("123");
+                                latch = new CountDownLatch(2);
+                                deviceMessageHandler.setLatch(latch);
+                                if (moveX(emitter, slide[0], frontCmdId, frontCmdName)) return;
+                                if (moveY(emitter, slide[1], frontCmdId, frontCmdName)) return;
+                                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                                if (!finished) {
+                                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                                    emitter.complete();
+                                    return;
+                                }
+                            }
                         }
                     }
                 }
+                //10.关高压电
+                if (highVoltageClose(emitter, frontCmdId, frontCmdName)) return;
+                //11.回到原点 motorMoveToHome 先 z
+                latch = new CountDownLatch(1);
+                deviceMessageHandler.setLatch(latch);
+                // z轴回原点
+                if (originZ(emitter, frontCmdId, frontCmdName)) return;
+                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                if (!finished) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
+                latch = new CountDownLatch(2);
+                deviceMessageHandler.setLatch(latch);
+                // x轴回原点
+                if (originX(emitter, frontCmdId, frontCmdName)) return;
+
+                // y轴回原点
+                if (originY(emitter, frontCmdId, frontCmdName)) return;
+                finished = latch.await(5 * 60, TimeUnit.SECONDS);
+                if (!finished) {
+                    emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
+                    emitter.complete();
+                    return;
+                }
+                //12.结束日志
+                //TODO写日志
+                emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
+            } catch (Exception e) {
+                Thread.currentThread().interrupt();
+                log.info("喷涂线程已停止");
+                System.out.println("任务中断");
+            } finally {
+                emitter.complete();
             }
-        }
-        //10.关高压电
-        if (highVoltageClose(emitter, frontCmdId, frontCmdName)) return;
-        //11.回到原点 motorMoveToHome 先 z
-        latch = new CountDownLatch(1);
-        deviceMessageHandler.setLatch(latch);
-        // z轴回原点
-        if (originZ(emitter, frontCmdId, frontCmdName)) return;
-        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-        if (!finished) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
-        }
-        latch = new CountDownLatch(2);
-        deviceMessageHandler.setLatch(latch);
-        // x轴回原点
-        if (originX(emitter, frontCmdId, frontCmdName)) return;
-
-        // y轴回原点
-        if (originY(emitter, frontCmdId, frontCmdName)) return;
-        finished = latch.await(5 * 60 , TimeUnit.SECONDS);
-        if (!finished) {
-            emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
-            emitter.complete();
-            return;
-        }
-        //12.结束日志
-        //TODO写日志
-        emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.SEND, "指令执行完毕"), MediaType.APPLICATION_JSON);
-        emitter.complete();
+        });
     }
 
 
@@ -488,7 +505,7 @@ public class MatrixSprayStart implements CommandHandler {
             //移动x与y到点位
             if (moveX(emitter, p.getX(), frontCmdId, frontCmdName)) return true;
             if (moveY(emitter, 75.5 - p.getY(), frontCmdId, frontCmdName)) return true;
-            boolean finished = latch.await(5 * 60 , TimeUnit.SECONDS);
+            boolean finished = latch.await(5 * 60, TimeUnit.SECONDS);
             if (!finished) {
                 emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.ERROR, "等待指令执行完成超时"), MediaType.APPLICATION_JSON);
                 emitter.complete();

src/main/java/com/qyft/ms/app/handler/impl/MatrixSprayStop.java

@@ -49,6 +49,7 @@ public class MatrixSprayStop implements CommandHandler {
         String frontCmdId = cmdForm.getCmdId();
         String frontCmdName = cmdForm.getCmdName();
         emitter.send(FrontCommandAck.backstageAck(frontCmdId, frontCmdName, CommandStatus.RECEIVE, "后台已收到指令"), MediaType.APPLICATION_JSON);//向前端发送接收到指令
+        log.info("申请中断喷涂线程:{}", matrixSprayState.cancelTask());
         //1.轴停止移动
         CMDToDevice motorXStopCMDToDevice = DeviceCommandGenerator.motor_x_stop(); //x轴停止移动指令
         CommandFuture motorXStopCMDToDeviceFuture = new CommandFuture();